CN104723326A - Echelon linkage multi-axis manipulator - Google Patents
Echelon linkage multi-axis manipulator Download PDFInfo
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- CN104723326A CN104723326A CN201510137354.5A CN201510137354A CN104723326A CN 104723326 A CN104723326 A CN 104723326A CN 201510137354 A CN201510137354 A CN 201510137354A CN 104723326 A CN104723326 A CN 104723326A
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Abstract
The invention discloses an echelon linkage multi-axis manipulator which comprises an X-axis moving device, a Y-axis moving device, a Z-axis moving device, a manipulator clamp and a driving device. The driving device is connected with the X-axis moving device, the Y-axis moving device is connected with the X-axis moving device, the Z-axis moving device is connected with the Y-axis moving device, the manipulator clamp is installed on the Z-axis moving device, and the driving device drives the X-axis moving device to enable the manipulator clamp to move in the X-axis direction and enables the manipulator clamp to conduct echelon linkage movement in the Y-axis direction and the Z-axis direction through the Y-axis moving device and the Z-axis moving device. The complexity of the manipulator is reduced, control is simple, the cost of a complete machine is lowered, the anti-interference performance of the manipulator is improved, and working reliability is greatly improved.
Description
Technical field
The present invention relates to industrial automation equipment technical field, is a kind of echelon interlock multi-spindle machining hand that industrial equipment and production line are applied specifically.
Background technology
At industrial automation, various manipulator is used widely.Manipulator is for the carrying of material and transposition on production equipment and production line, and in most cases manipulator is all multiaxis, and its motion mode is generally complicated three-dimensional motion.Current manipulator is generally form multivariant complicated machinery hand by the axle of multiple drive, the general multiaxis three-dimensional motion adopting the drive motors of more than 2 could realize complexity.This manipulator generally adopts each driving shaft of multi-shaft interlocked complex control system difference driving device hand, thus there is the shortcomings such as running speed is slow, poor anti jamming capability, functional reliability are poor, expensive, be thus difficult to be generalizable on low and middle-end equipment.
Therefore, current industrial automation need that a kind of structure is simple, running speed is high, antijamming capability is strong, functional reliability is high, highly versatile and the manipulator of economical.。
Summary of the invention
The object of the invention is for above-mentioned deficiency of the prior art, provide that a kind of structure is simple, running speed is high, antijamming capability is strong, functional reliability is high, highly versatile and the echelon of economical interlock multi-spindle machining hand.
The object of the invention is to be achieved through the following technical solutions:
A kind of echelon interlock multi-spindle machining hand, comprise X-axis mobile device, Y-axis mobile device, Z axis mobile device, manipulator fixture and drive unit, described drive unit is connected with X-axis mobile device, described Y-axis mobile device is connected with X-axis mobile device, described Z axis mobile device is connected with Y-axis mobile device, described manipulator fixture is arranged on described Z axis mobile device, described drive unit drives X-axis mobile device that manipulator fixture is moved as X-direction, and make manipulator fixture make Y and Z-direction by Y-axis mobile device and Z axis mobile device to make echelon to be connected motion mobile.
In further design, described X-axis mobile device comprises X-axis guide rail, X-axis screw mandrel, the female slide block of X-axis, Y-axis guiderail base and X-axis limiting plate, described X-axis guide rail and X-axis screw mandrel be arranged in parallel, two ends are respectively provided with X-axis end plate, the female slide block of described X-axis is driven can be reciprocatingly slided along described X-axis screw mandrel by described X-axis screw mandrel, the female slide block of X-axis is provided with the sub-slider waveguide rod of the X-axis parallel with X-axis screw mandrel, the sub-slider waveguide rod of X-axis is provided with can make along the sub-slider waveguide rod of X-axis the sub-slide block of X-axis that reciprocatingly slides, the sub-slide block two ends of X-axis are provided with back-moving spring, described Y-axis guiderail base is fixed on the sub-slide block of described X-axis perpendicular to the angle of X-axis screw mandrel, described X-axis limiting plate is fixed on one end of described Y-axis guiderail base, respectively on the X-axis end plate relative with X-axis limiting plate be correspondingly fixed with X-axis gag lever post.
In further design, the scalable adjustment of length of described X-axis limiting plate or X-axis gag lever post.
In further design, described Y-axis mobile device comprises Y-axis guide rail, Y-axis drives guide plate and Y-axis to drive pin, described Y-axis guide rail is arranged on Y-axis guiderail base and is parallel to Y-axis guiderail base, Y-axis guide rail is provided with can make along Y-axis guide rail the Y-axis slide block that reciprocatingly slides, Y-axis slide block two ends are equipped with back-moving spring, described Y-axis drives guide plate to have 2 pieces, lay respectively at the both sides of described Y-axis slide block and be fixed on the two ends of the female slide block of described X-axis, described Y-axis drives guide plate to be provided with Y-axis and drives guide groove, described Y-axis drives pin to be fixed on Y-axis slide block and drives guide groove to slide along described Y-axis.
In further design, described Z axis mobile device comprises Z axis guide rail, Z axis drives guide plate and Z axis drive leader, described Z axis guide rail is fixed on described Y-axis slide block perpendicular to the angle of described Y-axis guiderail base and X-axis screw mandrel, Z axis guide rail is provided with can make along Z axis guide rail the Z axis slide block that reciprocatingly slides, Z axis slide block two ends are equipped with back-moving spring, the Z axis that both sides, described Z axis slide block lower end are respectively equipped with the downward squint in inclined-plane drives guide plate, described Z axis drive leader has 2, lay respectively at described Z axis drive the both sides of guide plate and be separately fixed on described Y-axis driving guide plate, one end that described Z axis drive leader and Z axis drive guide plate to contact all is fixed with roller, described fixture is arranged on described Z axis slide block.
In further design, the scalable adjustment of described Z axis drive leader length.
In further design, any one in Timing Belt/synchronizing wheel drive unit or chain/chain sprocket driving device or pneumatic/hydraulic drive unit selected by described drive unit.
The present invention has following outstanding beneficial effect:
An echelon interlock multi-spindle machining hand getting of the present invention drive unit, reduce the complexity of manipulator, the control of manipulator is made to become simple, complete machine cost is reduced, and the control system programming of manipulator is simplified greatly, simultaneously because the electrical system of manipulator is simplified, the interference free performance of manipulator is improved, and functional reliability is largely increased.
Accompanying drawing explanation
Fig. 1 is the structural representation of echelon of the present invention interlock multi-spindle machining hand;
Fig. 2 is the partial structurtes schematic diagram of echelon of the present invention interlock multi-spindle machining hand;
In figure, 1-drive motors, 2-shaft coupling, 3-X-axis guide rail, 4-X axial filament bar, 5-X axle right end plate, 6-X-axis right limit bar, 7-X-axis first member plate, 8-X-axis left limit bar, the female slide block of 9-X axle, the sub-slider waveguide rod of 10-X-axis, the sub-slide block back-moving spring of 11-X-axis, the sub-slide block of 12-X-axis, 13-Y-axis guiderail base, 14-X axle limiting plate, 17-Y-axis guide rail, 18-Y-axis slide block back-moving spring, 19-Y axle slide block, 20-Y axle drives right guide plate, 21-Y-axis drives right guide groove, 22-Y-axis drives right pin, 23-Z axis drives right guide rod, 24-roller, 25-Y-axis drives left guide plate, 26-Y-axis drives left guide groove, 27-Y-axis drives left pin, 28-Z axis drives left guide rod, 29-Z shaft moving device, 30-Z axis rail base, 31-Z axis rail, 32-Z axis slide block back-moving spring, 33-Z axis slide block, 34-Z axis drives right guide plate, 35-Z axis drives left guide plate, 36-fixture.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described:
See Fig. 1 and Fig. 2, the echelon interlock multi-spindle machining hand in the present invention, comprises X-axis mobile device, Y-axis mobile device, Z axis mobile device, manipulator fixture 36 and drive motors 1, wherein:
X-axis mobile device comprises X-axis guide rail 3, X-axis screw mandrel 4, the female slide block 9 of X-axis, Y-axis guiderail base 13 and X-axis limiting plate 14, X-axis guide rail 3 and X-axis screw mandrel 4 be arranged in parallel, two ends are respectively equipped with X-axis first member plate 7 and X-axis right end plate 5, the female slide block 9 of X-axis is driven can be reciprocatingly slided along X-axis screw mandrel 4 by X-axis screw mandrel 4, the female slide block 9 of X-axis is provided with the sub-slider waveguide rod 10 of the X-axis parallel with X-axis screw mandrel 4, the sub-slider waveguide rod of X-axis 10 is provided with can axially make along it the sub-slide block 12 of X-axis that reciprocatingly slides, X-axis sub-slide block 12 two ends are provided with back-moving spring (i.e. the sub-slide block back-moving spring 11 of X-axis), Y-axis guiderail base 13 is fixed on the sub-slide block 12 of X-axis perpendicular to the angle of X-axis screw mandrel 4, X-axis limiting plate 14 is fixed on one end of Y-axis guiderail base 13, corresponding X-axis left limit bar 8 and the X-axis right limit bar 6 being fixed with the scalable adjustment of length respectively on the X-axis left and right end plate 7 and 5 relative with X-axis limiting plate 14, drive motors 1 to be connected with X-axis screw mandrel 4 by shaft coupling 2 and to drive the female slide block 9 of X-axis to move along X-axis guide rail 3.
Y-axis mobile device comprises Y-axis guide rail 17, Y-axis drives guide plate and Y-axis to drive pin, Y-axis guide rail 17 is arranged on Y-axis guiderail base 13 and is parallel to Y-axis guiderail base 13, Y-axis guide rail 17 is provided with can make along Y-axis guide rail 17 the Y-axis slide block 19 that reciprocatingly slides, Y-axis slide block 19 two ends are equipped with back-moving spring (Y-axis slide block back-moving spring 18), Y-axis drives guide plate to have Y-axis to drive left guide plate 25 and Y-axis to drive right guide plate 20, lay respectively at the both sides of Y-axis slide block 19 and be fixed on the two ends of the female slide block 9 of X-axis, Y-axis drives guide plate to be provided with Y-axis to drive guide groove to be respectively Y-axis and to drive left guide groove 26 and Y-axis to drive right guide groove 21, Y-axis drives pin to have 2, be respectively Y-axis drive left pin 27 and Y-axis to drive right pin 22 to be fixed on Y-axis slide block 19 and drive guide groove slip Y-axis to drive left pin 27 to drive left guide groove 26 to slide along Y-axis along Y-axis, Y-axis drives right pin 22 to drive right guide groove 21 to slide along Y-axis.
Z axis mobile device comprises Z axis guide rail 31, Z axis drives guide plate and Z axis drive leader, Z axis guide rail 31 is fixed on Y-axis slide block 19 perpendicular to the angle of Y-axis guiderail base 13 and X-axis screw mandrel 4, Z axis guide rail 31 is provided with can make along Z axis guide rail 31 the Z axis slide block 33 that reciprocatingly slides, Z axis slide block 33 two ends are equipped with back-moving spring (Z axis slide block back-moving spring 33), the Z axis that both sides, Z axis slide block 33 lower end are respectively equipped with the downward squint in inclined-plane drives guide plate Z axis to drive left guide plate 35, Z axis drives right guide plate 34, Z axis drive leader comprises Z axis and drives left guide rod 28 and Z axis to drive right guide rod 23 and lay respectively at the both sides of Z axis driving guide plate and be separately fixed on Y-axis driving guide plate 25 and 20, one end that Z axis drive leader and Z axis drive guide plate to contact all is fixed with roller 24, the scalable adjustment of Z axis drive leader length, fixture 36 is fixed on Z axis slide block 33.
Echelon interlock multi-spindle machining hand in the present invention is in production practical application, can need select fixture 36 and be fixed on Z axis slide block 33 according to function, and require the female length of slide block 9 of design X-axis and the stroke of the sub-slide block 12 of X-axis according to the maximum envelope curve of the movement locus of manipulator, the stroke of Y-axis slide block 19, the stroke of Z axis slide block 33, Y-axis drives right guide plate 20 and Y-axis to drive right guide groove 21, Y-axis drives left guide plate 25 and Y-axis to drive left guide groove 26, Z axis drives right guide plate 34, Z axis drives left guide plate 35, and suitably regulate X-axis right limit bar 6 according to the concrete manufacturing technique requirent at robot work scene, X-axis left limit bar 8, Z axis drives right guide rod 23 and Z axis to drive the extension of left guide rod 28 to meet the movement locus requirement to manipulator.
When X-axis drive motors 1 drives the female slide block 9 of X-axis to move along X-axis guide rail 3 by drive unit, each axle, under the echelon gearing of each roller/female slide block, back-moving spring, guide groove/guide plate and pin and spacing mandril, can realize manipulator and be connected motion in three-dimensional each axle echelon.
Be described as follows to left movement along X-axis guide rail 3 for the female slide block 9 of X-axis: when drive unit drives the female slide block 9 of X-axis along X-axis guide rail 3 to the fixture of left movement now manipulator also in company with to left movement, when X-axis limiting plate 14 left end contacts with X-axis left limit bar 8, the sub-slide block 12 of X-axis stops also stopping to left movement to the fixture 36 of left movement now manipulator, (now the female slide block 9 of X-axis continues to left movement); Along with Y-axis slide block 19 and Y-axis drive the close of right guide plate 20, Y-axis on Y-axis slide block 19 drives right pin 22 to enter Y-axis and drives right guide groove 21, under the guiding of this guide groove 21, Y-axis drives right pin 22 to start to move along Y-axis guide rail 17, and Y-axis slide block 19 is also in company with move along Y-axis guide rail 17 (now the fixture 35 of manipulator is also in company with moving along Y-axis); When the female slide block 9 of X-axis continues to left movement along X-axis guide rail 3, until Y-axis drives right pin 22 to cross Y-axis when driving the oblique line section of right guide groove 21, Y-axis drives right pin 22 to stop moving the fixture 36 of now manipulator also in company with stopping moving along Y-axis along Y-axis; The female slide block 9 of X-axis continues along X-axis guide rail 3 to left movement, and Y-axis drives next section of right guide groove 21 that Y-axis can not be made to drive right pin 22 that moving along Y-axis and Z axis occurs during this period; When the female slide block 9 of X-axis continues along X-axis guide rail 3 to left movement, Y-axis slide block 19 and Y-axis drive the distance of right guide plate 20 to be close to Z axis when driving right guide plate 34 and Z axis to drive the Z axis on right guide rod 23 to drive guide roller 24 to contact, and Z axis drives right guide plate 34 that guiding Z axis slide block 33 is moved (now the fixture of manipulator is also in company with moving along Z axis) along Z axis.The above-mentioned fixture explaining manipulator does echelon by the order of X, Y, Z axis and is connected motion.
Next, when drive unit drives the female slide block 9 of X-axis to do return motion to the right along X-axis guide rail 3, under the effect of each axle guide and back-moving spring, reverse sequence by Z, Y, X-axis is done echelon and is connected motion by the fixture 36 of manipulator, until the sub-slide block 12 of X-axis gets back to the center of the female slide block 9 of X-axis.
When drive unit drives the female slide block 9 of X-axis to continue to move right and reply along X-axis guide rail 3, the procedure of kinematic analysis of the fixture 36 of manipulator and aforementioned similar.Be more than preferred embodiment of the present invention, all changes done according to technical solution of the present invention, when the function produced does not exceed the scope of technical solution of the present invention, all belong to protection scope of the present invention.
Claims (7)
1. an echelon interlock multi-spindle machining hand, it is characterized in that, comprise X-axis mobile device, Y-axis mobile device, Z axis mobile device, manipulator fixture and drive unit, described drive unit is connected with X-axis mobile device, described Y-axis mobile device is connected with X-axis mobile device, described Z axis mobile device is connected with Y-axis mobile device, described manipulator fixture is arranged on described Z axis mobile device, described drive unit drives X-axis mobile device that manipulator fixture is moved as X-direction, and make manipulator fixture make Y and Z-direction by Y-axis mobile device and Z axis mobile device to make echelon to be connected motion mobile.
2. echelon interlock multi-spindle machining hand according to claim 1, it is characterized in that, described X-axis mobile device comprises X-axis guide rail, X-axis screw mandrel, the female slide block of X-axis, Y-axis guiderail base and X-axis limiting plate, described X-axis guide rail and X-axis screw mandrel be arranged in parallel, two ends are respectively provided with X-axis end plate, the female slide block of described X-axis is driven can be reciprocatingly slided along described X-axis screw mandrel by described X-axis screw mandrel, the female slide block of X-axis is provided with the sub-slider waveguide rod of the X-axis parallel with X-axis screw mandrel, the sub-slider waveguide rod of X-axis is provided with can make along the sub-slider waveguide rod of X-axis the sub-slide block of X-axis that reciprocatingly slides, the sub-slide block two ends of X-axis are provided with back-moving spring, described Y-axis guiderail base is fixed on the sub-slide block of described X-axis perpendicular to the angle of X-axis screw mandrel, described X-axis limiting plate is fixed on one end of described Y-axis guiderail base, respectively on the X-axis end plate relative with X-axis limiting plate be correspondingly fixed with X-axis gag lever post.
3. echelon interlock multi-spindle machining hand according to claim 2, is characterized in that, the scalable adjustment of length of described X-axis limiting plate or X-axis gag lever post.
4. echelon interlock multi-spindle machining hand according to claim 2, it is characterized in that, described Y-axis mobile device comprises Y-axis guide rail, Y-axis drives guide plate and Y-axis to drive pin, described Y-axis guide rail is arranged on Y-axis guiderail base and is parallel to Y-axis guiderail base, Y-axis guide rail is provided with can make along Y-axis guide rail the Y-axis slide block that reciprocatingly slides, Y-axis slide block two ends are equipped with back-moving spring, described Y-axis drives guide plate to have 2 pieces, lay respectively at the both sides of described Y-axis slide block and be fixed on the two ends of the female slide block of described X-axis, described Y-axis drives guide plate to be provided with Y-axis and drives guide groove, described Y-axis drives pin to be fixed on Y-axis slide block and drives guide groove to slide along described Y-axis.
5. echelon interlock multi-spindle machining hand according to claim 4, it is characterized in that, described Z axis mobile device comprises Z axis guide rail, Z axis drives guide plate and Z axis drive leader, described Z axis guide rail is fixed on described Y-axis slide block perpendicular to the angle of described Y-axis guiderail base and X-axis screw mandrel, Z axis guide rail is provided with can make along Z axis guide rail the Z axis slide block that reciprocatingly slides, Z axis slide block two ends are equipped with back-moving spring, the Z axis that both sides, described Z axis slide block lower end are respectively equipped with the downward squint in inclined-plane drives guide plate, described Z axis drive leader has 2, lay respectively at described Z axis drive the both sides of guide plate and be separately fixed on described Y-axis driving guide plate, one end that described Z axis drive leader and Z axis drive guide plate to contact all is fixed with roller, described fixture is arranged on described Z axis slide block.
6. echelon interlock multi-spindle machining hand according to claim 5, is characterized in that, the scalable adjustment of described Z axis drive leader length.
7. according to the interlock of echelon described in the arbitrary claim of claim 1-5 multi-spindle machining hand, it is characterized in that, any one in Timing Belt/synchronizing wheel drive unit or chain/chain sprocket driving device or pneumatic/hydraulic drive unit selected by described drive unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510137354.5A CN104723326B (en) | 2015-03-27 | 2015-03-27 | Echelon linkage multi-axis manipulator |
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| CN201510137354.5A CN104723326B (en) | 2015-03-27 | 2015-03-27 | Echelon linkage multi-axis manipulator |
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| CN104723326B CN104723326B (en) | 2017-01-11 |
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| CN105128001A (en) * | 2015-10-15 | 2015-12-09 | 南京工业职业技术学院 | Multistage floating guide rod type manipulator |
| CN105437222A (en) * | 2016-01-11 | 2016-03-30 | 南京工业职业技术学院 | Cylindrical coordinate system floating guide rod-cylindrical surface guide groove manipulator |
| CN105459099A (en) * | 2016-01-11 | 2016-04-06 | 南京工业职业技术学院 | Cylindrical coordinate system floating guide rod and two-stage guide slot type mechanical hand |
| CN106217361A (en) * | 2016-08-30 | 2016-12-14 | 吴中区横泾嘉运模具厂 | The block rubber discharging mechanical hand of core assembly assemble mechanism |
| CN107117562A (en) * | 2017-07-18 | 2017-09-01 | 湖北先行专用汽车有限公司 | A kind of total travel reciprocator of hydraulic jack driving |
| CN107932490A (en) * | 2017-12-30 | 2018-04-20 | 贾军霞 | A kind of intelligent robot |
| CN108994400A (en) * | 2018-09-20 | 2018-12-14 | 刘旭昇 | A kind of malleable cast iron pipe fitting automatic threading machine |
| CN116130393A (en) * | 2022-12-14 | 2023-05-16 | 弥费科技(上海)股份有限公司 | Wafer box transfer mechanism, method, system and storage warehouse |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108994400A (en) * | 2018-09-20 | 2018-12-14 | 刘旭昇 | A kind of malleable cast iron pipe fitting automatic threading machine |
| CN108994400B (en) * | 2018-09-20 | 2024-01-19 | 永康市勤亿工贸有限公司 | Automatic mantle fiber machine of marc steel pipe fitting |
| CN116130393A (en) * | 2022-12-14 | 2023-05-16 | 弥费科技(上海)股份有限公司 | Wafer box transfer mechanism, method, system and storage warehouse |
| CN116130393B (en) * | 2022-12-14 | 2023-12-15 | 弥费科技(上海)股份有限公司 | Wafer box transfer mechanism, method, system and storage warehouse |
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